ArticulationBody setup flies around in play mode with no forces applied when there is a falling rigidbody

To reproduce:
1. Open attached project
2. Enter play mode

Expected result: The capsule/cube body falls to the ground and rests
Actual result: After hitting the ground, he convulsely flies off into the distance

Reproduced in: 2020.1.0a15 (feature introduced in this version)

Note: This only happens if there is a rigidbody cube falling somewhere in the scene (they do not need to collide)
Note2: This only happens if the articulation body has sufficiently complex set up. Disabling any of the 4 connected Articulation Bodies stop the bug from reproducing
Note3: Gif attached
Note4: Capsule (1) has Twist set to Limited. Switching it to Free also makes the bug dissapear

WORKAROUND: One of the limbs has Spherical joint with Twist limited to a [0, 0] range. It creates a bad condition inside PhysX, so increasing the twist range is recommended. Also, I noticed that removing non-uniform scale helped too.